diff --git a/descriptions/unitree/a1_description/config/legged_gym/config_himloco.yaml b/descriptions/unitree/a1_description/config/legged_gym/config_himloco.yaml
new file mode 100644
index 0000000..a066005
--- /dev/null
+++ b/descriptions/unitree/a1_description/config/legged_gym/config_himloco.yaml
@@ -0,0 +1,41 @@
+model_name: "him.pt"
+framework: "isaacgym"
+rows: 4
+cols: 3
+decimation: 4
+num_observations: 45
+observations: ["commands", "ang_vel", "gravity_vec", "dof_pos", "dof_vel", "actions"]
+observations_history: [5, 4, 3, 2, 1, 0]
+clip_obs: 100.0
+clip_actions_lower: [-100, -100, -100,
+                     -100, -100, -100,
+                     -100, -100, -100,
+                     -100, -100, -100]
+clip_actions_upper: [100, 100, 100,
+                     100, 100, 100,
+                     100, 100, 100,
+                     100, 100, 100]
+rl_kp: [40, 40, 40,
+        40, 40, 40,
+        40, 40, 40,
+        40, 40, 40]
+rl_kd: [1, 1, 1,
+        1, 1, 1,
+        1, 1, 1,
+        1, 1, 1]
+hip_scale_reduction: 1.0
+hip_scale_reduction_indices: [0, 3, 6, 9]
+num_of_dofs: 12
+action_scale: 0.25
+
+lin_vel_scale: 2.0
+ang_vel_scale: 0.25
+dof_pos_scale: 1.0
+dof_vel_scale: 0.05
+
+commands_scale: [2.0, 2.0, 0.25]
+
+torque_limits: [33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5]
\ No newline at end of file
diff --git a/descriptions/unitree/a1_description/config/legged_gym/him.pt b/descriptions/unitree/a1_description/config/legged_gym/him.pt
new file mode 100755
index 0000000..7d3af22
Binary files /dev/null and b/descriptions/unitree/a1_description/config/legged_gym/him.pt differ